KR20210048888A - Automotive sensor integration module - Google Patents

Abstract

According to the present invention, a sensor integrated module for a vehicle comprises: a plurality of sensors having at least different one between a sensing period and output data form; and a signal processing unit outputting detection data outputted from each of the sensors as sensing data, simultaneously, based on one sensing period of the sensors, determining whether each area of an external cover corresponding to each position of the sensors is contaminated based on the detection data, and outputting a determination result as contamination data.

Description

Automotive sensor integration module {AUTOMOTIVE SENSOR INTEGRATION MODULE}

The present invention relates to a sensor integration module for a vehicle.

As technology advances, vehicles are also equipped with various sensors and electronic devices for user convenience. In particular, research on an advanced driver assistance system (ADAS) is being actively conducted for the user's driving convenience. Furthermore, the development of autonomous vehicles is being actively carried out.

Advanced driver assistance systems and autonomous vehicles are inevitably equipped with a large number of sensors and electronic devices to determine objects outside the vehicle.

Referring to FIG. 1, in order to detect an object in front of a vehicle, a camera, a lidar, and a radar sensor are arranged in front of the vehicle, but are arranged at different positions.

In order to improve the detection performance of the object, the object should be determined based on the detection result of the sensors detected at the same timing, but because the sensors are arranged at different positions, it is not easy to synchronize the object detection sensors. In addition, when contaminants adhere to the outer cover surfaces of the sensors, it is difficult for each sensor to output a detection result for normal object identification.

An object of the present invention is to provide a sensor integration module for a vehicle in which a plurality of synchronized sensors are arranged.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention that are not mentioned can be understood by the following description, and will be more clearly understood by examples of the present invention. In addition, it will be easily understood that the objects and advantages of the present invention can be realized by the means shown in the claims and combinations thereof.

A sensor integration module for a vehicle according to an embodiment of the present invention for achieving this object is based on a plurality of sensors having different at least one of a sensing period and an output data format, and a sensing period of any one of the plurality of sensors. The detection data output from each of the plurality of sensors are simultaneously output as sensing data, and based on the detection data, it is determined whether each area of the outer cover corresponding to the position of each of the plurality of sensors is contaminated, and the determination result And a signal processing unit that outputs as contamination data.

In the vehicle sensor integration module according to an embodiment of the present invention, since a plurality of sensors operate in synchronization, there is an effect of improving the detection performance of an object outside the vehicle.

In addition, since the sensor integration module for a vehicle according to an embodiment of the present invention determines whether each of a plurality of sensors is contaminated and can be cleaned for each sensor, there is an effect of improving the detection performance of an object outside the vehicle.

1 is a diagram showing the exterior of an autonomous vehicle.
2 is a view showing an external view of a sensor integration module for a vehicle according to an embodiment of the present invention.
3 is a view showing a vehicle in which an integrated vehicle sensor module according to an embodiment of the present invention is disposed.
4 is a view showing a washing device for cleaning the outer surface of the sensor integration module for a vehicle and the sensor integration module for a vehicle according to an embodiment of the present invention.
5 is a view showing the configuration of a vehicle in which an integrated vehicle sensor module according to an embodiment of the present invention is disposed.
6 is a view showing the configuration of a sensor integration module for a vehicle according to an embodiment of the present invention.
7 is a diagram illustrating a configuration of a signal processing unit of FIG. 3.
8 is a diagram showing the configuration of the contamination determination unit of FIG. 7.

The above-described objects, features, and advantages will be described later in detail with reference to the accompanying drawings, and accordingly, one of ordinary skill in the art to which the present invention pertains will be able to easily implement the technical idea of the present invention. In describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description will be omitted. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar elements.

Hereinafter, the "top (or bottom)" of the component or the "top (or bottom)" of the component means that an arbitrary component is arranged in contact with the top (or bottom) of the component. In addition, it may mean that other components may be interposed between the component and any component disposed on (or under) the component.

In addition, when a component is described as being "connected", "coupled" or "connected" to another component, the components may be directly connected or connected to each other, but other components are "interposed" between each component. It is to be understood that "or, each component may be "connected", "coupled" or "connected" through other components.

2 is a view showing an external view of a sensor integration module for a vehicle according to an embodiment of the present invention.

The sensor integration module for a vehicle according to an embodiment of the present invention may include a plurality of devices and sensors for detecting an object located outside a vehicle in order to obtain safety information about driving a vehicle. In this case, the object may include a lane, another vehicle, a pedestrian, a two-wheeled vehicle, a traffic signal, a light, a road, a structure, a speed bump, a terrain object, an animal, and the like.

The lane may be a driving lane, a lane next to the driving lane, or a lane in which an opposite vehicle travels. The lane may be a concept including left and right lines forming a lane.

The other vehicle may be a vehicle running around the own vehicle. The other vehicle may be a vehicle located within a predetermined distance from the own vehicle. For example, the other vehicle may be a vehicle located within a predetermined distance from the own vehicle and preceding or following the own vehicle.

A pedestrian may be a person located in the vicinity of the child's vehicle. The pedestrian may be a person located within a predetermined distance from the own vehicle. For example, a pedestrian may be a person located on a sidewalk or roadway within a predetermined distance of the own vehicle.

A two-wheeled vehicle may refer to a vehicle that is located around a child vehicle and moves using two wheels. The two-wheeled vehicle may be a vehicle having two wheels located within a predetermined distance from the own vehicle. For example, the two-wheeled vehicle may include a motorcycle or bicycle positioned on a sidewalk or roadway within a predetermined distance of the own vehicle.

The traffic signal may include a traffic light, a traffic sign, a pattern or text drawn on a road surface.

The light may include lamps provided in other vehicles, street lights, or light emitted from the sun.

The road may include slopes such as road surfaces, curves, uphill and downhill.

The structure may be an object located around a road and fixed to the ground. For example, the structure may include street lights, street trees, buildings, power poles, traffic lights, bridges, and the like.

The features may include mountains, hills, and the like.

Meanwhile, the object may be classified into a moving object and a fixed object. For example, the moving object may be a concept including another vehicle, a two-wheeled vehicle, a pedestrian, and the like, and the fixed object may be a concept including a traffic signal, a road, a structure, and the like.

As described above, it may be desirable to use various sensors and devices in order to accurately determine various objects around the vehicle.

In order to accurately determine an object outside the vehicle, the sensor integration module for a vehicle according to an embodiment of the present invention may include a plurality of sensors and devices of different types. In addition, the sensor integration module for a vehicle according to an embodiment of the present invention may include at least one sensor and device of the same type.

Referring to FIG. 2, a sensor integration module for a vehicle according to an embodiment of the present invention is a sensor for discriminating an object outside a vehicle, and may include an infrared camera, an optical camera, a lidar, and a radar. The sensor integration module for a vehicle according to an embodiment of the present invention illustrated in FIG. 2 is an infrared camera, an optical camera, a lidar, and a radar as a sensor for discriminating an object, but is not limited thereto. In addition, the sensor integration module for a vehicle according to an embodiment of the present invention shown in FIG. 2 shows two infrared cameras, one optical camera, two lidars, and one radar, but the number of each sensor is shown as an example. It is only to explain, not limiting.

Referring to FIG. 2, the sensor integrated module for a vehicle according to an embodiment of the present invention may include a circuit board, an infrared camera, a camera, a radar, and a lidar. For example, the sensor integration module for a vehicle according to an embodiment of the present invention may include a circuit board on which an infrared camera, an optical camera, a radar, and a lidar are arranged and mounted.

The optical camera is for recognizing objects, lights, and people around the vehicle by acquiring an external image of the vehicle through light, and may include a mono camera, a stereo camera, an AVM (Around View Monitoring) camera, and a 360 degree camera. . Optical cameras have the advantage of being able to detect colors and accurately classify objects compared to other sensors, but have disadvantages that are affected by environmental factors such as night, backlight, snow, rain, and fog.

The radar detects an object based on an electromagnetic wave, a Time of Flight (TOF) method or a phase-shift method, and detects the position of the detected object, the distance to the detected object, and the relative speed. I can. Radar has the advantage of detecting long distances without being affected by environmental factors such as nighttime, snow, rain, fog, etc., but objects made of materials that absorb electromagnetic waves, for example, of steel structures such as tunnels or guardrails. It is difficult to detect and has the disadvantage of not being able to classify objects.

The radar detects an object based on a time of flight (TOF) method or a phase-shift method through laser light, and determines the position of the detected object, the distance to the detected object, and the relative speed. Can be detected. The radar is less affected by environmental factors such as night, snow, rain, fog, etc., and its resolution is good, so it is efficient for long-range and short-range detection, and has the advantage of being able to perform simple classification of objects. There is a disadvantage that the speed cannot be measured immediately.

The infrared camera can acquire an image of the exterior of a vehicle through infrared rays. In particular, the infrared camera can acquire an external image of a vehicle even at night. Infrared cameras are not affected by environmental factors such as nighttime, snow, rain, fog, etc., and have a peak that allows long-distance detection and distinguishing between living things and objects, but they have a disadvantage of high price.

In the sensor integration module for a vehicle according to an embodiment of the present invention, an external cover is coupled to the front of the sensor integration module for an optical camera, an infrared camera, a radar, and a lidar detection area, that is, an optical camera, an infrared camera, Radar and lidar can be protected from physical impact.

As described above, in order to accurately classify and discriminate external objects around a vehicle regardless of environmental factors, the advantages and disadvantages of each sensor must be combined. Accordingly, the sensor integration module for a vehicle according to an embodiment of the present invention discloses a structure in which a plurality of different sensors are all arranged and mounted on a circuit board. In addition, since the sensor integration module for a vehicle according to an embodiment of the present invention can synchronize and output detection results of a plurality of sensors having different operation periods, there is an advantage in more accurate classification and identification of objects.

3 is a view showing a vehicle in which an integrated vehicle sensor module according to an embodiment of the present invention is disposed.

Referring to FIG. 3, in the vehicle sensor integration module according to an embodiment of the present invention, a plurality of vehicle sensor integration modules may be disposed in the vehicle in order to detect an object outside the vehicle.

FIG. 3 is only an example in which four sensor integration modules for automobiles are arranged in a vehicle, but is not limited thereto. In addition, FIG. 3 shows an integrated vehicle sensor module is disposed on the right and left side of the front of the vehicle to detect the right and left side of the front of the vehicle, and the right and left side of the rear of the vehicle are respectively It shows an example of arranging the sensor integration module for a vehicle.

4 is a view showing a washing device for cleaning the outer surface of the sensor integration module for a vehicle and the sensor integration module for a vehicle according to an embodiment of the present invention.

As shown in FIG. 3, in order to detect an object outside the vehicle, since the sensor integrated module for a vehicle according to the present invention is disposed outside the vehicle, it may be difficult to detect a normal object due to the attachment of contaminants such as rain, dust, and bird droppings. .

Accordingly, as shown in FIG. 4, the sensor integration module for a vehicle according to the present invention may be combined with the washing device 10. A plurality of washing devices 10 are combined with the sensor integration module for a vehicle, and each cleaning device can wash a corresponding area of a part of the outer cover of the sensor integration module for a vehicle. At this time, the cleaning device 10 may spray a liquid (for example, water) on the area to clean the area, and the cleaning device 10 includes a body 11 and a sprayer 12 including a liquid spray nozzle. ) Can be implemented. Since the length of the injector 12 can be further away from the body 11 and shortened, the position at which the liquid is sprayed can be varied according to the length of the injector 12.

FIG. 4 shows an example in which the outer cover of the sensor integrated module for a vehicle according to the present invention is divided into nine, and six washing devices can wash each area of the divided outer cover, but is not limited to FIG. 4. Reveal.

Since the sensor integration module for a vehicle according to the present invention includes a plurality of sensors, the cleaning devices combined with the sensor integration module for a vehicle may be configured to clean the outer cover regions corresponding to the positions in which each sensor is disposed.

Accordingly, the sensor integration module for a vehicle according to the present invention provides contamination data on the outer cover areas corresponding to the positions where each sensor is placed to the washing control device, so that the washing device is the entire outer cover area of the sensor integration module for a vehicle. Only some of the contaminated outer cover areas can be cleaned.

5 is a view showing the configuration of a vehicle in which an integrated vehicle sensor module according to an embodiment of the present invention is disposed.

A vehicle in which the sensor integration module 100 for a vehicle according to an embodiment of the present invention is disposed may further include an upper control device 200 and a washing control device 300.

Referring to FIG. 5, a vehicle may include a sensor integration module 100 for a vehicle, an upper control device 200 and a washing control device 300.

The automotive sensor integration module 100 may synchronize detection data acquired from each of the sensors and provide the sensing data S_data to the upper control device 200. The vehicle sensor integration module 100 may generate pollution data PP_data based on detection data obtained from each of the sensors and provide the generated pollution data PP_data to the washing control apparatus 300.

The upper control device 200 may provide external environment data EC_data to the vehicle sensor integration module 100. The external environment data EC_data may include at least one of weather, road conditions, temperature, and humidity.

The sensor integration module 100 for a vehicle according to an embodiment of the present invention discloses that the external environment data (EC_data) is provided from the upper control device 200, but the sensor integration module 100 for a vehicle is disposed in the vehicle. External environment data EC_data may be provided from a temperature sensor, a humidity sensor, a rain sensor, and a navigation device, respectively.

The upper control device 200 is a separate device for controlling the sensor integration module 100 for a vehicle, a device for determining an object included in an autonomous driving system or ADAS (Advanced Driver Assistance Systems), or a device for controlling vehicle driving. Can be

The washing control apparatus 300 may control operations of the plurality of washing apparatuses 10 shown in FIG. 4 based on the pollution data PP_data provided from the sensor integration module 100 for a vehicle. In this case, the pollution data PP_data may include whether each area of the outer cover corresponding to the position of each of the plurality of sensors included in the sensor integration module 100 for a vehicle is contaminated.

In this case, the vehicle sensor integration module 100, the upper control device 200, and the washing control device 300 may be connected through vehicle network communication. Vehicle network communication technologies may include Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, Flex-Ray communication, and Ethernet.

6 is a view showing the configuration of a sensor integration module for a vehicle according to an embodiment of the present invention.

Referring to FIG. 6, the sensor integration module 100 for a vehicle according to an embodiment of the present invention includes an optical camera 11, an infrared camera 12, a radar 13, a lidar 14, and an interface unit 20. ) And a signal processing unit 30. In this case, the interface unit 20 and the signal processing unit 30 may be implemented in hardware or software on the circuit board shown in FIG. 2.

The optical camera 11 may output information detected through light as first detection data C_s.

The infrared camera 12 may output information detected through infrared rays as second detection data IC_s.

The radar 13 may output information sensed through an electromagnetic wave as third detection data R_s.

The lidar 14 may output information sensed through the laser light as fourth detection data L_s.

In this case, each of the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14 may have different sensing (operation) periods. For example, the optical camera 11 and the infrared camera 12 may have a sensing period of 30 Hz, the radar 13 may have a sensing period of 20 Hz, and the lidar 14 may have a sensing period of 10 Hz. I can have it.

Accordingly, the optical camera 11 and the infrared camera 12 can output the first and second detection data (C_s, IC_s) every first time (33 ms), and the radar 13 is a second time (50 ms). The third detection data R_s may be output every time, and the lidar 14 may output the fourth detection data L_s every third time (100 ms).

In addition, communication standards of each detection data C_s, IC_s, R_s, and L_s output from the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14 may be different. For example, the first detection data C_s output from the optical camera 11 may be data in a format used in low voltage differential signal (LVDS) communication.

The second detection data IC_s output from the infrared camera 12 may be data in a format used in Gigabit Multimedia Serial Link (GMSL) communication. The radar 13 and the lidar 14 may be data in a format used in Ethernet.

The interface unit 20 converts the first to fourth detection data (C_s, IC_s, R_s, L_s) having different data formats into one preset data format and provides them to the signal processing unit 30 as converted data (C_data). I can.

The interface unit 20 may convert the format of the first to fourth detection data C_s, IC_s, R_s, and L_s into a data format according to a predetermined communication technology among vehicle network communication technologies. In this case, the vehicle network communication technology may include controller area network (CAN) communication, local interconnect network (LIN) communication, Flex-Ray communication, and Ethernet. For example, the interface unit 20 may convert the first to fourth detection data C_s, IC_s, R_s, and L_s into data in a format according to Ethernet communication.

The signal processing unit 30 may receive the first to fourth detection data C_s, IC_s, R_s, and L_s of the same format converted by the interface unit 20 as converted data C_data. The signal processing unit 30 synchronizes the first to fourth detection data C_s, IC_s, R_s, and L_s included in the conversion data C_data provided from the interface unit 20 to a preset timing to provide sensing data S_data. As a result, it may be output to the upper control device 200.

For example, the signal processing unit 30 includes first to fourth detection data C_s, IC_s, R_s, and L_s based on an input timing of one of the first to fourth detection data C_s, IC_s, R_s, and L_s. May be output as sensing data S_data at the same timing.

For a more detailed example, the signal processing unit 30 receives and stores the first to fourth detection data C_s, IC_s, R_s, and L_s, and the third detection data R_s is input to the signal processing unit 30. Thereafter, when a predetermined time elapses, the stored first to fourth detection data C_s, IC_s, R_s, and L_s may be output as sensing data S_data. At this time, the sensing data S_data is the first to fourth detection data C_s. IC_s, R_s, L_s obtained from the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14. Can include.

In addition, the signal processing unit 30 may generate pollution data (PP_data) based on external environment data (EC_data) and converted data (C_data), and provide the generated pollution data (PP_data) to the washing control device 300. have.

For example, the signal processing unit 30 is based on the converted data C_data, the outer cover surface corresponding to the corresponding position of the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14 Pollution data PP_data is generated by determining whether or not is polluted, and the output frequency of the pollution data PP_data generated based on the external environment data EC_data may be controlled.

In more detail, the signal processing unit 30 includes first to fourth detection data C_s, IC_s, R_s, and output from the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14. L_s) When the difference between the current data value and the previous data value exceeds a preset data value, a result of determining that a contaminant is attached to the outer cover surface corresponding to the location of the corresponding sensor may be output as contamination data PP_data.

That is, when the data value of the current detection data changes abruptly compared to the previous detection data of each of the sensors 11, 12, 13, 14, the signal processing unit 30 It can be determined that is attached.

For example, in the case of the radar 13 and the lidar 14, since the sensing period is 30 Hz, the time difference between the previous detection data and the current detection data is 33 ms. Therefore, if the distance difference between the previous detection data output from the radar 13 or the lidar 14 and the object corresponding to the current detection data is 10 meters, it should be determined that there is an object moving 30 meters per second. , Since it is difficult to see this as detection data according to a general situation, it may be desirable to determine that contaminants are attached to the outer cover surface on which the radar 13 or the lidar 14 is located.

The signal processing unit 30 may determine whether the outer cover location of the sensor integration module 100 for a vehicle corresponding to each of the sensors 11, 12, 13, 14 determined as described above is contaminated, and external environment data Based on (EC_data), it is possible to control the frequency of output of the result of determining whether or not contamination (ie, contamination data PP_data).

For example, the signal processing unit 30 increases the output frequency of the result of contamination determination in an environment in which contaminants can be easily attached to the outer cover of the sensor integration module 100 for a vehicle. In an environment where contaminants cannot be easily attached to the outer cover, the frequency of outputting the result of contamination determination can be reduced.

In more detail, the signal processing unit 30 rains, the humidity is high, the temperature is low enough to cause frost, or when the vehicle is traveling on an unpaved road, it does not rain, the humidity is low, or the temperature is high. , It is possible to output more frequently the result of determining whether or not contamination is more than when a vehicle is driving on a paved road.

For example, when it rains, the humidity is high, or the car is driving on an unpaved road, contaminants are likely to adhere to the outer cover of the sensor integration module 100 for a vehicle. Because it is more likely to occur, pollution data (PP_data) that determines whether or not pollution is more often output than when it is not in such an environment to wash the outer cover of the vehicle sensor integration module 100, thereby integrating the vehicle sensor according to the present invention. The reliability of the sensing data S_data output from the module 100 may be increased.

7 is a diagram illustrating a configuration of a signal processing unit of FIG. 3.

Referring to FIG. 7, the signal processing unit 30 may include a data transmission/reception unit 31, an output synchronization unit 32, and a contamination determination unit 33.

The data transmission/reception unit 31 may include a wired/wireless communication module capable of transmitting and receiving data with the interface unit 20, the upper control device 200, and the washing control device 300.

The data transmission/reception unit 31 may transmit sensing data S_data received from the output synchronization unit 32 to the upper control device 200. The data transmission/reception unit 31 may transmit the contamination data PP_data received from the contamination determination unit 33 to the washing control apparatus 300.

The data transmission/reception unit 31 may transmit external environment data EC_data received from the upper control device 200 to the pollution determination unit 33. The data transmission/reception unit 31 may transmit the converted data C_data received from the interface unit 20 to the output synchronization unit 32 and the contamination determination unit 33.

The output synchronization unit 32 may generate sensing data S_data by synchronizing the converted data C_data provided from the data transmission/reception unit 31 and provide the generated sensing data to the data transmission/reception unit 31. For example, the output synchronization unit 32 is based on any one of the first to fourth detection data (C_s, IC_s, R_s, L_s) included in the converted data (C_data), the first to fourth detection data (C_s). , IC_s, R_s, L_s) may be synchronized and provided to the data transmission/reception unit 31 as sensing data S_data.

In more detail, the output synchronization unit 32 stores the first to fourth detection data C_s, IC_s, R_s, and L_s included in the converted data C_data, respectively, and the first to fourth detection data C_s , IC_s, R_s, L_s) is inputted, and when a preset time elapses, the stored first to fourth detection data C_s, IC_s, R_s, and L_s may be output as sensing data S_data.

The pollution determination unit 33 generates pollution data (PP_data) based on the converted data (C_data) and external environment data (EC_data) provided from the data transmission/reception unit 31, and transmits and receives the generated pollution data (PP_data). It can be provided to the part 31. For example, the pollution determination unit 33 may generate the pollution data PP_data based on the converted data C_data, and increase or decrease the output frequency of the pollution data PP_data based on the external environment data EC_data. .

At this time, the converted data C_data is the first to fourth detection data C_s, IC_s, R_s, L_s obtained from the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14. And the pollution determination unit 33 generates pollution data PP_data based on each of the first to fourth detection data C_s, IC_s, R_s, and L_s, so that the pollution data PP_data is the location of each sensor. It may include whether or not the location of the outer cover corresponding to the contamination.

In addition, since the external environment data (EC_data) includes weather, temperature, humidity, and road conditions, the pollution determination unit 33 is an environment in which contaminants can be easily attached to the outer cover of the sensor integration module 100 for automobiles. In this case, it is possible to frequently wash the outer cover of the sensor integration module 100 for a vehicle by increasing the frequency of outputting the pollution data PP_data.

8 is a diagram showing the configuration of the contamination determination unit of FIG. 7.

As shown in FIG. 8, the contamination determination unit 33 includes first to fourth sensor determination units 33-1, 33-2, 33-3, and 33-4 and first to fourth output control units 33 -5, 33-6, 33-7, 33-8). In this case, the contamination determination unit 33 may further include a sensor information storage unit 33-9.

As described above, the pollution determination unit 33 compares the previous data and the current data of each of the first to fourth detection data C_s, IC_s, R_s, L_s included in the conversion data C_data, and integrates the vehicle sensor. It may be determined whether the outer cover of the module 100 is contaminated.

The first sensor determination unit 33-1 may generate a first comparison result signal C_com by comparing previous data of the first detection data C_s with current data. For example, the first sensor determination unit 33-1 is a first comparison signal (C_com) of the first level when the difference between the data value of the previous data of the first detection data (C_s) and the current data exceeds a preset data value. Can be created. On the other hand, the first sensor determination unit 33-1 generates a first comparison signal C_com of the second level when the difference between the previous data of the first detection data C_s and the data value of the current data is less than a preset data value. I can.

The second sensor determination unit 33-2 may generate a second comparison result signal IC_com by comparing previous data of the second detection data IC_s with current data. For example, when the difference between the data value of the previous data of the second detection data IC_s and the current data exceeds a preset data value, the second sensor determination unit 33-2 may provide a second comparison signal IC_com of the first level. Can be created. Meanwhile, the second sensor determination unit 33-2 may generate a second comparison signal IC_com of the second level when the difference between the previous data of the second detection data IC_s and the current data value is less than a preset data value. I can.

The third sensor determination unit 33-3 may generate a third comparison result signal R_com by comparing previous data of the third detection data R_s with current data. For example, the third sensor determination unit 33-3 is a first level third comparison signal R_com when the difference between the previous data of the third detection data R_s and the current data exceeds a preset data value. Can be created. Meanwhile, the third sensor determination unit 33-3 may generate a third comparison signal R_com of the second level when the difference between the previous data of the third detection data R_s and the data value of the current data is less than a preset data value. I can.

The fourth sensor determination unit 33-4 may generate a fourth comparison result signal L_com by comparing previous data of the fourth detection data L_s with current data. For example, when the difference between the data value of the previous data of the fourth detection data L_s and the current data exceeds a preset data value, the fourth sensor determination unit 33-4 may provide a fourth comparison signal L_com of the first level. Can be created. On the other hand, the fourth sensor determination unit 33-4 generates a fourth comparison signal L_com of the second level when the difference between the data value of the previous data and the current data of the fourth detection data L_s is less than a preset data value. I can.

In this case, when each of the first to fourth comparison signals C_com, IC_com, R_com, and L_com is at the first level, it may mean that contaminants are attached to the outer cover positions corresponding to the positions of the respective sensors. Meanwhile, when each of the first to fourth comparison signals C_com, IC_com, R_com, and L_com is at the second level, the outer cover position corresponding to the position of each corresponding sensor may mean that there is no contamination attached. The first level and the second level are different from each other, may be analog levels, and may be levels according to at least one or more digital signals.

As described above, each of the first to fourth sensor discrimination units 33-1, 33-2, 33-3, and 33-4 may perform the same operation as only the name of the input/output signal is different. Accordingly, each configuration of the first to fourth sensor determination units 33-1, 33-2, 33-3, and 33-4 may be the same. Therefore, by describing the configuration of the first sensor determination unit 33-1 among the first to fourth sensor determination units 33-1, 33-2, 33-3, and 33-4, the second to fourth sensors It replaces the description of the configuration of the determination units 33-2, 33-3, and 33-4.

The first sensor determination unit 33-1 may include a sensor output storage unit 33-1-1 and a comparison unit 33-1-2.

The sensor output storage unit 33-1-1 may receive and store the first detection data C_s, and output the stored first detection data when the next first detection data C_s is input. For example, the sensor output storage unit 33-1-1 may be implemented as a shift register, and when current data is input, previously stored data may be output.

The comparison unit 33-1-2 receives the output of the sensor output storage unit 33-1-1 and the first detection data C_s, compares the data values, and compares the comparison result to the first comparison signal C_com. Can be output as For example, the comparison unit 33-1-2 is the output of the sensor output storage unit 33-1-1 (previous first detection data) and first detection data (C_s; current first detection data) data. When the value difference exceeds a preset data value, the first comparison signal C_com of the first level may be output.

Meanwhile, the comparison unit 33-1-2 is the difference between the data value of the output of the sensor output storage unit 33-1-1 (previous first detection data) and the first detection data C_s; If is less than a preset data value, the first comparison signal C_com of the second level may be output.

The first output control unit 33-5 receives the first comparison signal C_com and external environment data EC_data, and includes contamination data (PP_data) including information (PC_s) on whether the optical camera 11 is contaminated. Can be printed.

For example, the first output control unit 33-5 may output the first comparison signal C_com as information about whether the optical camera 11 is contaminated (PC_s), that is, contamination data PP_data. In this case, the first output control unit 33-5 may increase or decrease the output frequency of the contamination data PP_data PC_s including whether the optical camera 11 is contaminated based on the external environment data EC_data.

In addition, the first output control unit 33-5 may additionally receive camera information C_inf. The camera information C_inf may include the position of the optical camera 11 disposed in the sensor integration module 100 for a vehicle. Camera information (C_inf) can also increase or decrease the output frequency of pollution data (PP_data; PC_s) together with external environment data (EC_data).

The second output control unit 33-6 receives the second comparison signal IC_com and external environment data EC_data, and includes pollution data PP_data including information PIC_s on whether the infrared camera 12 is contaminated; PIC_s) can be output.

For example, the second output control unit 33-6 may output the second comparison signal IC_com as information on whether the infrared camera 12 is contaminated (PIC_s), that is, contamination data PP_data. In this case, the second output control unit 33-6 may increase or decrease the output frequency of the pollution data PP_data PIC_s including whether the infrared camera 12 is contaminated based on the external environment data EC_data.

In addition, the second output control unit 33-6 may additionally receive infrared camera information IC_inf. The infrared camera information IC_inf may include the location of the infrared camera 12 disposed in the sensor integration module 100 for a vehicle. The infrared camera information IC_inf may also increase or decrease the output frequency of pollution data PP_data; PIC_s in addition to external environment data EC_data.

The third output control unit 33-7 receives the third comparison signal R_com and external environment data EC_data, and includes pollution data (PP_data; PR_s) including information (PR_s) on whether or not the radar 13 is polluted. ) Can be printed.

For example, the third output control unit 33-7 may output the third comparison signal R_com as information on whether the radar 13 is contaminated (PR_s), that is, contamination data PP_data. In this case, the third output control unit 33-7 may increase or decrease the output frequency of the pollution data PP_data PR_s including whether the radar 13 is polluted based on the external environment data EC_data.

Also, the third output control unit 33-7 may additionally receive radar information R_inf. The radar information R_inf may include the position of the radar 13 disposed in the sensor integration module 100 for a vehicle. Radar information (R_inf) can also increase or decrease the output frequency of pollution data (PP_data; PR_s) along with external environment data (EC_data).

The fourth output control unit 33-8 receives the fourth comparison signal L_com and external environment data EC_data, and includes contamination data PP_data including information PL_s on whether the lidar 14 is contaminated; PL_s) can be output.

For example, the third output control unit 33-8 may output the fourth comparison signal L_com as information PL_s on whether the lidar 14 is contaminated, that is, contamination data PP_data. In this case, the fourth output control unit 33-8 may increase or decrease the output frequency of the pollution data PP_data PL_s including whether the lidar 14 is contaminated based on the external environment data EC_data.

In addition, the fourth output control unit 33-8 may additionally receive lidar information L_inf. The lidar information L_inf may include the position of the lidar 14 disposed in the sensor integration module 100 for a vehicle. The lidar information L_inf may also increase or decrease the output frequency of the pollution data PP_data PL_s in addition to the external environment data EC_data.

The sensor information storage unit 33-9 may store an arrangement position of the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14 in the sensor integration module 100 for a vehicle.

In addition, the sensor information storage unit 33-9 is external to the vehicle sensor integration module 100 according to the respective arrangement positions of the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14. It can save the cleaning strength of the cover. If, the washing intensity of the sensors disposed under the sensor integration module 100 for a vehicle may be stronger than that of the sensors disposed thereon. At this time, each of the first to fourth output controllers 33-5, 33-6, 33-7, and 33-8 outputs pollution data (PP_data; PC_s, PIC_s, PR_s, PL_s) to the arrangement of each sensor. The resulting washing intensity may be included in the contamination data (PP_data; PC_s, PIC_s, PR_s, and PL_s).

In summary, each of the first to fourth output control units 33-5, 33-6, 33-7, and 33-8 converts each of the first to fourth comparison signals C_com, IC_com, R_com, and L_com into contamination data ( PP_data; PC_s, PIC_s, PR_s, PL_s). At this time, the first to fourth output control units 33-5, 33-6, 33-7, and 33-8 each of the pollution data (PC_s. PIC_s, PR_s, PL_s) based on the external environment data (EC_data). The output frequency can be increased or decreased.

As mentioned above, the external environment data EC_data may include information of at least one of weather, road conditions, temperature, and humidity.

The first to fourth output control units 33-5, 33- in the case of weather, the road condition on which the vehicle is running, temperature and humidity, where it is determined that contaminants can be easily attached to the outer cover of the sensor integration module 100 for automobiles. 6, 33-7, 33-8) can increase the output frequency of pollution data (PP_data; PC_s, PIC_s, PR_s, PL_s), whereas adhesion of contaminants to the outer cover of the sensor integration module 100 for automobiles In the case of weather determined to be not easy, the road condition on which the vehicle is running, temperature and humidity, the first to fourth output control units 33-5, 33-6, 33-7, and 33-8 are used to determine the pollution data (PP_data; PC_s). , PIC_s, PR_s, PL_s) output frequency can be reduced.

In addition, each of the first to fourth output control units 33-5, 33-6, 33-7, and 33-8 is an optical camera 11 and an infrared camera 12 disposed in the sensor integration module 100 for a vehicle. , It is possible to increase or decrease the output frequency for each pollution data (PP_data; PC_s. PIC_s, PR_s, PL_s) according to the positions of the radar 13 and the lidar 14.

For example, when the optical camera 11 and the infrared camera 12 are disposed at a higher position than the radar 13 and the lidar 14, the first and second output control units 33-5 and 33-6 The output frequency of the pollution data PP_data; PC_s and PIC_s may be lower than that of the pollution data PP_data PR_s and PL_s output from the third and fourth output control units 33-6 and 33-7.

As described above, the sensor integration module 100 for a vehicle according to the present invention includes an optical camera 11, an infrared camera 12, a radar 13, and a lidar 14 included in the sensor integration module 100 for a vehicle. It is possible to determine whether or not contamination for each outer cover area corresponding to the location of the vehicle and provide it to the washing control device 300 for cleaning, thereby increasing the reliability of determining an object located outside the vehicle.

In addition, the sensor integration module 100 for a vehicle according to the present invention is an external cover according to the external environment and the arrangement position of sensors such as the optical camera 11, the infrared camera 12, the radar 13, and the lidar 14. By increasing or decreasing the frequency of outputting pollution data for each area of the vehicle, it is possible to further improve the reliability of determining objects located outside the vehicle.

As described above with reference to the drawings illustrated for the present invention, the present invention is not limited by the embodiments and drawings disclosed in the present specification, and various by a person skilled in the art within the scope of the technical idea of the present invention. It is obvious that transformations can be made. In addition, even if not explicitly described and described the operating effects according to the configuration of the present invention while describing the embodiments of the present invention, it is natural that the predictable effects by the configuration should also be recognized.

100: automotive sensor integration module 200: upper control unit
300: washing control device 11: optical camera
12: infrared camera 13: radar
14: lidar 20: interface unit
30: signal processing unit 31: data transmission/reception unit
32: output synchronization unit 33: contamination determination unit

Claims (12)

A plurality of sensors having different sensing periods and output data formats; And
The detection data output from each of the plurality of sensors is simultaneously output as sensing data based on a sensing period of any one of the plurality of sensors, and an outer cover corresponding to the position of each of the plurality of sensors based on the detection data A sensor integration module for automobiles comprising a signal processing unit that determines whether or not contamination of each area of is polluted and outputs the determination result as contamination data. The method of claim 1,
The outer cover
In order to protect the plurality of sensors from physical shocks, the sensor integration module for a vehicle is coupled to the front surface of the sensor integration module for the vehicle. The method of claim 1,
The signal processing unit
A sensor integration module for a vehicle that receives and stores the detection data, and simultaneously outputs the stored detection data based on a sensing period of any one of the plurality of sensors. The method of claim 3,
The signal processing unit
A sensor integration module for a vehicle that compares the current data for each of the detected data with the data values of the previous data and outputs the contamination data including whether the outer cover area corresponding to the positions of the plurality of sensors is contaminated. The method of claim 4,
The signal processing unit
An output synchronization unit that receives and stores the detection data, and outputs the detection data stored based on any one of the detection data as the sensing data, and
A sensor integration module for a vehicle comprising a pollution determination unit configured to receive and store the detection data, and to generate the pollution data by comparing the detection data output from the plurality of sensors with the data values of the stored detection data. The method of claim 5,
The contamination determination unit
According to whether the data values of the detection data output from the plurality of sensors and the stored detection data exceed a preset data value, whether the outer cover area corresponding to the position of the sensor that outputs the detection data is contaminated. A sensor integration module for a vehicle that determines and generates the pollution data. The method of claim 6,
The contamination determination unit
A sensor integration module for a vehicle that increases or decreases the output frequency of the pollution data based on external environment data. The method of claim 7,
The contamination determination unit
A sensor integration module for a vehicle that increases the output frequency of the pollution data in an environment in which contaminants are easily attached to the outer cover than in an environment in which contaminants are difficult to attach to the outer cover according to the external environment data. The method of claim 8,
The external environment data includes weather, road conditions, temperature and humidity,
The contamination determination unit
According to the external environment data, when it is raining than a rainy day, or when driving on an unpaved road than when driving on a paved road, or when the temperature is lower than when the temperature is high, or when it is higher than when the humidity is low Automotive sensor integration module to increase the output frequency of the pollution data. The method of claim 9,
The contamination determination unit
A sensor integration module for a vehicle that increases or decreases the output frequency of the pollution data according to the arrangement position of each of the plurality of sensors. The method of claim 10,
The contamination determination unit
A sensor integration module for a vehicle that increases the frequency of outputting the pollution data to sensors disposed below the plurality of sensors than those disposed above the plurality of sensors. The method of claim 11,
The contamination determination unit
A plurality of sensor output storage units receiving and storing each of the detection data output from the plurality of sensors,
A plurality of comparison units for comparing the detection data output from the plurality of sensors with the stored detection data output from the plurality of sensor output storage units, and
A sensor integration module for a vehicle including a plurality of output control units that output the outputs of the plurality of comparison units as the pollution data, and increase or decrease the output frequency of the pollution data according to the external environment data and the arrangement positions of the plurality of sensors. .

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